This paper presents a rope modeling and verification for the robotic platform of the wall cleaning robot (ROPE RIDE). ROPE RIDE has the characteristics of climbing up and down using a rope fixed on the roof like traditional workers. In order to perform a stable operation with a wall cleaning robot, it is necessary to estimate the position of the robot in a vertical direction. However, due to the high coefficient of extension and nonlinearity of the climbing rope, it is difficult to predict the behavior of the rope. Thus, in this paper, the mathematical modeling of the rope was carried out through the preliminary experiment. Extensive experiments using different types of rope were used to determine the parameters of the constitutive equation of climbing ropes. The validity of the determined parameters of various ropes was verified through the experiment results.

Abstract
1. 서 론
2. ROPE RIDE의 구조 및 동작원리
3. 등반 로프 모델링
    3.1 로프 모델링 예비 실험
    3.2 로프의 구성 방정식 모델링
4. 모델링 파라미터 추정 실험
5. 결 론
References

• 유성근(School of Mechanical and Aerospace Engineering, Seoul National University) | Sungkeun Yoo
• 김태균(School of Mechanical Engineering, Yeungnam University) | Taegyun Kim
• 서명재(School of Mechanical Engineering, Hanyang University) | Myoungjae Seo
• 김화수(School of Mechanical System Engineering, Kyounggi University) | Hwa Soo Kim
• 서태원(School of Mechanical Engineering, Hanyang University) | TaeWon Seo Corresponding author